TelemetryClient.h

Go to the documentation of this file.

#ifndef CARMA_BIMA_TELEMETRYCLIENT_H
#define CARMA_BIMA_TELEMETRYCLIENT_H

#include <iosfwd>
#include <string>
#include <map>
#include <vector>

#include <sys/poll.h>

#include <xercesc/parsers/SAXParser.hpp>
#include <xercesc/validators/DTD/DTDValidator.hpp>

#include "carma/antenna/bima/TelemetryConfigHandler.h"
#include "carma/antenna/bima/TelemetryCommand.h"
#include "carma/antenna/bima/Telemetry.h"
#include "carma/antenna/bima/SharedMemory.h"

#include "carma/util/ScopedPthreadMutexLock.h"
#include "carma/util/IPQwriter.h"
#include "carma/util/ErrorException.h"
#include "carma/util/Logger.h"
#include "carma/util/Trace.h"

// Constants defined to compute conversion factors
// for units...
// These come directly from hatcreek/subs/misc/atod.c
#define VOLTS15 4.516129/32768.*3.608
#define VOLTS10 4.516129/32768.*2.697
#define VOLTS10P 4.516129/32768.*2.758 
#define VOLTS5 4.516129/32768.*1.347
#define VOLTS4 4.516129/32768.
#define VOLTS1P2 4.516129/32768.*.280
#define VOLTS1 4.516129/32768.*.250
#define VOLTSP4 4.516129/32768.*.100
// Milivolts mv
#define MVOLTS 4.516129/32768.*5.
// microAmps uA 402 ohm sense resistor
#define UAMPS 4.516129/32768.*124.38
// Temp sensors volts
#define TVOLTS 4.516129/32768./2.5
#define THERMI 4.516129/32768.

#define BIMASTATUSINFO(T,S) \
{ \
  std::ostringstream bsioss; \
  bsioss << S ; \
  T.setStatusInfo( bsioss.str() ); \
}

namespace carma
{
  namespace antenna
  {
    namespace bima
    {
      class TelemetryClient : public SharedMemory
      {
        public:
          TelemetryClient( Configuration& config, bool checkTelemHost = true );
          TelemetryClient();
          ~TelemetryClient();

          bool status();

          void tpoke( const char *ccname, unsigned char value = 1);
          void tpoke( const char *ccname, unsigned short value = 1 );
          void tpoke( const char *ccname, unsigned long value = 1 );

          void tpeekWriteSpace( const char *ccname, unsigned short *value );
          void tpeek( const char *ccname, unsigned short *value );
          void tpeek( const char *ccname, unsigned long *value );

          int atodin ( const char *ccname );
          int atodin ( int value )
          {
            if ( value & 0x8000 )
              value |= 0xffff0000;

            return -value;
          };
          double thermistor( double volts );
          double psi( int value );
          void limit( double& value, double min, double max );

          bool atodSaturated();

          void setbits( const char *bitsin, unsigned char value, unsigned char mask );

          void cpoke( unsigned short msgId, std::vector<carma::canbus::byteType> data );

          void enableToggleBit( const char *name, int mask, int update );
          void disableToggleBit( void );
          void enableMonitorPackets( void );
          void disableMonitorPackets( void );
          void serialEnable( void );
          void serialDisable( void );

          Configuration& getConfig() { return _config; }

          unsigned char getStatusByteA();
          unsigned char getStatusByteB();
          unsigned char getStatusByteC();

          // Status Control Box bit info
          bool isElLim();
          bool isElULim();
          bool isAzLim();
          bool isAzULim();
          bool isKey();
          bool isWtrPrssrNotNorm();
          bool isCollisionDectOff();
          bool isCollision();
          bool isAzDrvTempNorm();
          bool isElDrvTempNorm();
          bool isRxTempNorm();
          bool isCabTempNorm();
          bool isSpareTempNorm();
          bool isCameraSafe();
          bool isComputerCtl();
          bool isCamFlapOpen();
          bool isCamFlapBypass();
          bool isCabPwrOff();

          int getNumByteAErrs();
          int getNumByteBErrs();
          int getNumByteCErrs();

          // Status string info for some useful info to be
          // passed back to RTD windows mostly...
          void setStatusInfo( std::string msg );
          std::string getStatusInfo();

          std::string getFirmwareVersion();
          std::string getTelemetryVersion();
          void setTelemetryVersion( std::string ver );

        protected:
          Configuration &_config;

        private:
          static TelemetryConfigHandler *_tmConfig;
          static SemaphoreOperator *_semOp;
          static ::carma::util::PthreadMutex mConfigGuard; 
          static std::map<std::string, unsigned short> _nameMap;
          ::carma::util::IPQwriter<TelemetryCommand> *_tcWriter;

      };
    }
  }
}



#endif // CARMA_BIMA_TELEMETRYCLIENT_H